SELF-LOCALIZATION METHOD FOR MOBILE ROBOTS TO INSPECT INFRASTRUCTURES BURIED UNDERGROUND BY USING ACCELERATION AND IMAGING SENSORS

Abstract

In this report, we have described the experimental result of the quantity of using the acceleration sensor movement and precision inspection of the posture angle calculation of the XY axis movement. A simple and compact self-localization system could be constructed, and confirmed the accuracy of position estimation by using 3-axis MEMS acceleration sensors and small imaging sensors with CMOS camera.
With the aim of constructing 3D-maps with position information added to images in an infrastructure, we experimentally confirmed that position estimation accuracy could be improved by reducing generated vibration. We also confirmed the usefulness of an image synthesis method that does not need feature points. By adding distance information obtained from self-position estimation to created composite images, we constructed 3D-maps that reproduce actual in-vivo conditions.